Aerial vehicle control method and aerial vehicle

ABSTRACT

An aerial vehicle control method includes, upon receipt of an auto return instruction, controlling power output of an aerial vehicle in accordance with return point position information to cause the aerial vehicle to return to a return point indicated by the return point position information, and during returning to the return point, if a flight control instruction is detected, adjusting the power output of the aerial vehicle in accordance with the flight control instruction.

CROSS-REFERENCE TO RELATED APPLICATION

This is a continuation application of International Application No.PCT/CN2014/093893, filed on Dec. 15, 2014, the entire contents of whichare incorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates to the field of aerial vehicletechnologies, and in particular, to aerial vehicle control methods andaerial vehicles.

BACKGROUND

Currently, aerial vehicles include fixed wing aerial vehicles and rotoraerial vehicles. The rotor aerial vehicles achieve take-off, landing orflying by driving the rotors by motors.

In order to make an aerial vehicle return to a take-off position orreturn to a return point specified by a user, the aerial vehicle is setto be in a return mode and performs auto return.

However, in the process of return of the aerial vehicle, the user cannotoperate the aerial vehicle; hence, it is impossible to deal with anemergency or perform a user-expected action in the process of return,thus compromising the operation flexibility.

SUMMARY

Embodiments of the present disclosure provide an aerial vehicle controlmethod, device and an aerial vehicle, which can achieve more flexibleoperations of the aerial vehicle.

In one aspect, the present disclosure provides an aerial vehicle controlmethod including, upon receipt of an auto return instruction,controlling power output of an aerial vehicle in accordance with returnpoint position information to cause the aerial vehicle to return to areturn point indicated by the return point position information, andduring returning to the return point, if a flight control instruction isdetected, adjusting the power output of the aerial vehicle in accordancewith the flight control instruction.

In another aspect, the present disclosure provides an aerial vehicleincluding a power assembly and a flight control system. The powerassembly is configured to provide power output for the aerial vehicle.The flight control system is configured to, upon receipt of an autoreturn instruction: control the power output of the power assembly inaccordance with return point position information to cause the aerialvehicle to return to a return point indicated by the return pointposition information, and during returning to the return point, if aflight control instruction is detected, adjust the power output of thepower assembly in accordance with the flight control instruction.

According to the embodiments of the present disclosure, a flight controlinstruction can be received in the process of return, which makes theaerial vehicle operation more flexible, and can meet more user demands.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic flow chart of one aerial vehicle control methodaccording to one embodiment of the present disclosure;

FIG. 2 is a schematic flow chart of another aerial vehicle controlmethod according to another embodiment of the present disclosure;

FIG. 3 is a schematic flow chart of another aerial vehicle controlmethod according to yet another embodiment of the present disclosure;

FIG. 4 is a schematic structural diagram of an aerial vehicle controldevice according to an embodiment of the present disclosure; and

FIG. 5 is a schematic structural diagram of an aerial vehicle accordingto an embodiment of the present disclosure.

DETAILED DESCRIPTION OF THE EMBODIMENTS

The technical solutions of the present disclosure will be describedbelow in detail with reference to the accompanying drawings. Thedescribed embodiments are merely some of the embodiments of the presentdisclosure rather than all of the embodiments. All other embodimentsobtained by a person of ordinary skill in the art based on theembodiments of the present disclosure without creative efforts shallfall within the scope of the present disclosure.

Unless there are conflicting features, the following embodiments andfeatures therein can be combined with each other.

Referring to FIG. 1, FIG. 1 is a schematic flow chart of one aerialvehicle control method according to an embodiment of the presentdisclosure. The methods according to the embodiments of the presentdisclosure may be applied to a variety of aerial vehicles such asmulti-rotor aerial vehicles and fixed-wing aerial vehicles, wherein themulti-rotor aerial vehicles may further include various kinds of aerialvehicles such as four-rotor aerial vehicles, six-rotor aerial vehicles,eight-rotor aerial vehicles and other aerial vehicles with more or lessrotors. Specifically, one method disclosed herein comprises:

S101: Upon receipt of an auto return instruction, control power outputof an aerial vehicle in accordance with return point positioninformation to make the aerial vehicle return to a return point.Specifically, a signal received by the aerial vehicle is detected, andif an auto return instruction is received, power output of the aerialvehicle is determined in accordance with a return point, to make theaerial vehicle fly towards the return point. In the process of autoreturn, the aerial vehicle flies towards the return point in accordancewith pre-set attitude information, wherein the attitude information mayinclude a flight altitude, a flight speed, a flight direction and so on.

The auto return instruction may be: a return instruction sent from aremote control end, a return instruction generated when a remote controlsignal from the remote control end is not received within a pre-set timerange, or a return instruction generated when it is detected that abattery capacity value reaches a return required value and the aerialvehicle has to return.

The return point position information may be: user-configured, orautomatically-set (for example, an automatically-set take-off point)return point GPS (Global Positioning System) coordinates, and may alsobe information about a relative distance between the return point and acurrent position, direction information, or other information.

S102: In the process of return, if a flight control instruction isdetected, adjust the power output of the aerial vehicle in accordancewith the flight control instruction.

Specifically, direction and speed control signals are generated for apower assembly of the aerial vehicle in accordance with the flightcontrol instruction through a predetermined algorithm, and power outputof the power assembly is adjusted accordingly, so as to adjust flightattitude of the aerial vehicle, which may include adjusting one or moreof a flight altitude, a flight speed and a flight direction of theaerial vehicle. The power assembly may include an electronic speedadjustor, a motor, a propeller and so on.

The detection action may be completed through a signal receivingelement, when it is detected that strength of the signal received isgreater than a pre-set threshold, the signal is considered as a flightcontrol instruction and the flight control instruction is executed,otherwise, the signal detected is ignored.

With the aerial vehicle control methods according to the embodiments ofthe present disclosure, a flight control instruction can be received inthe process of return, which makes the aerial vehicle operation moreflexible and can meet more demands of users.

Referring to FIG. 2, FIG. 2 illustrates another aerial vehicle controlmethod according to another embodiment of the present disclosure.Specifically, the method comprises:

S201: Upon receipt of an auto return instruction, control power outputof an aerial vehicle in accordance with return point positioninformation to make the aerial vehicle return to a return point.

Specifically, a signal received by the aerial vehicle is detected, andif an auto return instruction is received, power output of the aerialvehicle is determined in accordance with a return point, and acorresponding control instruction is generated and sent to a powerassembly, to make the aerial vehicle fly towards the return point. Inthe process of auto return, the aerial vehicle flies towards the returnpoint in accordance with pre-set attitude information, wherein theattitude information may include a flight altitude, a flight speed andso on.

The return point position information may include a GPS signal of thereturn point, and may also be information about a relative distancebetween the return point and a current position, a direction and otherinformation.

S202: In the process of return, detect whether or not a flight controlinstruction for the aerial vehicle is received.

In the process of return, whether or not a flight control instructionfor the aerial vehicle is received is detected. The flight controlinstruction may be an operation instruction sent from a user control endto the aerial vehicle, used for controlling power output of the aerialvehicle, so as to achieve a change of attitude of the aerial vehicle tocomplete a user-expected action.

The detection process may be completed through a signal receivingelement, if the strength of the signal received by the signal receivingelement is greater than a pre-set threshold, the signal is considered asa flight control instruction, otherwise, the signal is considered as anoise signal and is ignored.

S203: If the flight control instruction for the aerial vehicle isreceived, adjust the power output of the aerial vehicle in accordancewith the return point position information and the flight controlinstruction.

Specifically, in the process of return of the aerial vehicle, a returninstruction may be generated in accordance with the return pointposition information, for example, GPS information of the return pointand so on, the return instruction calculates a specific controlinstruction for the power assembly through a pre-set algorithm, that is,power output of each power assembly to perform return is calculated, andthe control instruction is sent to the power assembly.

When the flight control instruction is received, a return instructiongenerated in accordance with the return point position information andthe fight control instruction may be superimposed. The power output ofthe aerial vehicle may be controlled in accordance with the superimposedinstruction.

At this point, the aerial vehicle superimposes the return instruction onthe flight control instruction, that is, on the basis of the poweroutput of each power assembly calculated by the return instruction, thepower output of each power assembly to execute the flight controlinstruction is superimposed thereon, and new power output of each powerassembly is calculated through a pre-set algorithm, so as to execute theflight control instruction as the same time when the return instructionis executed.

In the above process, when the aerial vehicle executes the flightcontrol instruction, parameters of the return instruction are also takeninto account, and a control instruction is obtained by integrating theflight control instruction and the parameter of the return instruction,to control power output of the aerial vehicle.

In addition, when the flight control instruction is received, it is alsofeasible to generate a control instruction by integrating the returnpoint position information and the flight control instruction, that is,power output of each power assembly of the aerial vehicle is calculatedand calculated through a pre-set algorithm in accordance with the returnpoint position information and the flight control instruction.

In the above process, when the aerial vehicle executes the flightcontrol instruction, parameters of the return point position informationare also taken into account, and a control instruction is obtained byintegrating the flight control instruction and the parameter of thereturn point position information, to control power output of the aerialvehicle.

Return of the aerial vehicle is generally rectilinear flight, that is, arelationship between a current position of the aerial vehicle and thereturn point is calculated to obtain a flight path, and the aerialvehicle flies to a position above the GPS position of the return point,and lands and goes back to the return point. If there is an obstaclebetween the current position of the aerial vehicle and the return point,the user can perform an operation to send an operation instruction tothe aerial vehicle to instruct it to bypass the obstacle. A flighttrajectory of the aerial vehicle is determined by a control instruction,wherein the control instruction is obtained by integrated calculation ofthe return instruction and the flight control instruction, or obtainedby integrated calculation of information of the return point and theflight control instruction. Hence, the flight trajectory is between areturn trajectory and a predetermined trajectory of the flight controlinstruction.

The user can send multiple flight control instructions, to ensure thatthe aerial vehicle bypasses the obstacle. Further, the user can alsosend the flight control instruction to make the aerial vehicle completeother actions in the process of return, for example, the aerial vehicleflies to a particular position, including flying at a particularaltitude or flying a particular distance to shoot a picture and so on.

If the flight control signal is not received, the aerial vehiclecontinues to return.

In the embodiments of the present disclosure, it is possible to operatethe aerial vehicle in the process of return, which enhances security andoperation flexibility of the aerial vehicle.

Referring to FIG. 3, FIG. 3 illustrates a further aerial vehicle controlmethod according to another embodiment of the present disclosure, andspecifically, the method comprises:

S301: Upon receipt of an auto return instruction, control power outputof an aerial vehicle in accordance with return point positioninformation to make the aerial vehicle return to a return point.

S302: In the process of return, detect whether or not a flight controlinstruction for the aerial vehicle is received.

S303: If the flight control instruction for the aerial vehicle is notreceived, continue to control the power output of the aerial vehicle inaccordance with the return point position information to make the aerialvehicle return to the return point.

S304: If the flight control instruction for the aerial vehicle isreceived, suspend the control over the power output of the aerialvehicle in accordance with the return point position information, andadjust the power output of the aerial vehicle in accordance with theflight control instruction.

When the flight control instruction is received, it is feasible tointerrupt the return, that is, interrupt the control over the poweroutput of the aerial vehicle in accordance with the return pointposition information, and calculate and set power output of each powerassembly of the aerial vehicle in accordance with the flight controlinstruction and through a pre-set algorithm, to complete an actionspecified by the flight control instruction.

In the above process, the aerial vehicle flies in accordance with atrajectory predetermined by the flight control instruction.

S305: After adjustment on the power output of the aerial vehicle inaccordance with the flight control instruction is completed, turn on thecontrol over the power output of the aerial vehicle in accordance withthe return point position information.

After the action specified by the flight control instruction iscompleted, if the signal receiving element does not detect receipt of anew control flight instruction, it is feasible to trigger a controlsystem of the aerial vehicle to make it continue to return, that is,turning on the control over the power output of the aerial vehicle inaccordance with the return point position information. Further, when theadjustment of the flight control instruction on the power output of theaerial vehicle is completed, it is feasible to turn on the control overthe power output of the aerial vehicle in accordance with the returnpoint position information after a pre-set time, that is, the return iscontinued, and step S303 is performed.

In this embodiment, after it is detected in the process of return thatthe flight control instruction for the aerial vehicle is received, theaerial vehicle may also execute the flight control instruction, exitfrom the return state and no longer continue to return, and all flightand actions thereafter are decided in accordance with the user'soperation and/or environment parameters of the aerial vehicle. That is,if step S304 is performed, step S305 is not performed, and the aerialvehicle may not to go back to perform step S303.

With the embodiments of the present disclosure, it is possible tooperate the aerial vehicle in the process of return, which enhancessecurity and operation flexibility of the aerial vehicle.

Referring to FIG. 4, FIG. 4 is a schematic structural diagram of anaerial vehicle control device according to an embodiment of the presentdisclosure. The device according to the embodiments of the presentdisclosure may be applied to a variety of aerial vehicles such asmulti-rotor aerial vehicles and fixed-wing aerial vehicles, wherein themulti-rotor aerial vehicles may include various kinds of aerial vehiclessuch as four-rotor aerial vehicles, six-rotor aerial vehicles,eight-rotor aerial vehicles and aerial vehicles with more or lessrotors. One aerial vehicle control device embodiment comprises:

a return control module 1 used for, upon receipt of an auto returninstruction, controlling power output of an aerial vehicle in accordancewith return point position information to make the aerial vehicle returnto a return point; and

a control adjustment module 2 used for, in the process of return, if aflight control instruction is detected, adjusting the power output ofthe aerial vehicle in accordance with the flight control instruction.

The return control module 1 detects a signal received by the aerialvehicle, and determines power output of the aerial vehicle in accordancewith a return point if an auto return instruction is received, to makethe aerial vehicle fly towards the return point. In the process of autoreturn, the aerial vehicle flies towards the return point in accordancewith pre-set attitude information, wherein the attitude information mayinclude a flight altitude, a flight speed, a flight direction and so on.

In this embodiment, the control adjustment module 2 comprises:

a detection unit 21 used for, in the process of return, detectingwhether or not a flight control instruction for the aerial vehicle isreceived; and

a power adjustment unit 22 used for, if the detection unit detects thatthe flight control instruction for the aerial vehicle is received,adjusting the power output of the aerial vehicle in accordance with thereturn point position information and the flight control instruction.

In the process of return, the detection unit 21 detects whether or notthe flight control instruction for the aerial vehicle is received. Theflight control instruction may be an operation instruction sent by auser control end, which is used for controlling power output of theaerial vehicle through the operation instruction, so as to achieve achange of attitude of the aerial vehicle to complete a user-expectedaction.

In the detection process, if the strength of a signal received by asignal receiving element is greater than a pre-set threshold, the signalis considered as a flight control instruction, otherwise, the signal isconsidered as a noise signal and is ignored.

If the flight control instruction for the aerial vehicle is received,the power adjustment unit 22 may superimpose a return instructiongenerated in accordance with the return point position information andthe fight control instruction, and control the power output of theaerial vehicle in accordance with the superimposed instruction.

At this point, the power adjustment unit 22 may superimpose the returninstruction and the flight control instruction, that is, on the basis ofthe power output of each power assembly calculated by the returninstruction, the power output of each power assembly when the flightcontrol instruction is executed is superimposed thereon, and new poweroutput of each power assembly is set through a pre-set algorithm, so asto execute the flight control instruction at the same time when thereturn instruction is executed.

In the process, when the aerial vehicle executes the flight controlinstruction, the power adjustment unit 22 also takes parameters of thereturn instruction into account, and obtains a control instruction byintegrating the flight control instruction and the parameters of thereturn instruction, to control power output of the aerial vehicle.

In addition, when the flight control instruction is received, the poweradjustment unit 22 may also generate a control instruction byintegrating the return point position information and the flight controlinstruction, that is, power output of each power assembly of the aerialvehicle is calculated and set through a pre-set algorithm in accordancewith the return point position information and the flight controlinstruction.

In the process, when the aerial vehicle executes the flight controlinstruction, the power adjustment unit 22 also takes parameters of thereturn point position information into account, and obtains a controlinstruction by integrating the flight control instruction and theparameters of the return point position information, to control poweroutput of the aerial vehicle.

A flight trajectory of the aerial vehicle is determined by a controlinstruction, which is obtained by integrated calculation of the returninstruction and the flight control instruction or obtained by integratedcalculation of information of the return point and the flight controlinstruction. Hence, the flight trajectory is between a return trajectoryand a predetermined trajectory of the flight control instruction.

The user can send multiple flight control instruction, to ensure thatthe aerial vehicle bypasses the obstacle. Further, the user can alsosend the flight control instruction to make the aerial vehicle completeother actions in the process of return, for example, the aerial vehicleflies to a particular position, including flying at a particularaltitude or flying a particular distance to shoot a picture and so on.

If the flight control instruction is not received, the adjustment unit22 does not adjust the power output of the aerial vehicle, and theaerial vehicle continues to return.

In addition, when the flight control instruction is received, theadjustment unit 22 may also interrupt the return, that is, interrupt thecontrol over the power output of the aerial vehicle in accordance withthe return point position information, and calculate and set poweroutput of each power assembly of the aerial vehicle in accordance withthe flight control instruction through a pre-set algorithm, to completean action specified by the flight control instruction.

In the above process, the aerial vehicle flies in accordance with atrajectory predetermined by the flight control instruction.

After the action specified by the flight control instruction iscompleted, if the detection unit 21 does not detect receipt of a newcontrol flight instruction, the power adjustment unit 22 adjusts theaerial vehicle to restore the return state in accordance with the returnpoint position information, that is, turning on the control over thepower output of the aerial vehicle in accordance with the return pointposition information. Further, once the adjustment of the flight controlinstruction on the power output of the aerial vehicle is completed, itis feasible to turn on the control over the power output of the aerialvehicle in accordance with the return point position information after apre-set time.

In addition, after it is detected in the process of return that theflight control instruction for the aerial vehicle is received, theaerial vehicle may execute the flight control instruction and exit fromthe return state. That is, the power adjustment unit 22 sets the poweroutput of the aerial vehicle in accordance with the flight controlinstruction, the return is no longer continued, and all flight andactions thereafter are determined in accordance with the user'soperation and/or environment parameters of the aerial vehicle.

Reference can be made to the descriptions in the correspondingembodiments of FIG. 1, FIG. 2 and FIG. 3 for specific implementation ofeach module and unit in the video processing device according to theembodiments of the present disclosure.

The aerial vehicle control device according to the embodiments of thepresent disclosure can receive a flight control instruction in theprocess of return, which makes the aerial vehicle operation safer andmore flexible and can meet more demands of users.

Referring to FIG. 5, FIG. 5 is a schematic structural diagram of anaerial vehicle according to an embodiment of the present disclosure; theaerial vehicles according to the embodiments of the present disclosuremay be a variety of aerial vehicles such as multi-rotor aerial vehiclesand fixed-wing aerial vehicles, wherein the multi-rotor aerial vehiclesmay include various kinds of aerial vehicles such as four-rotor aerialvehicles, six-rotor aerial vehicles, eight-rotor aerial vehicles andaerial vehicles with more or less rotors. Specifically, in thisembodiment, the aerial vehicle comprises a power assembly 100 and aflight control system 200.

The power assembly 100 is used for providing power output for the aerialvehicle, and the power assembly 100 may include an electronic speedadjustor, a motor, a propeller and so on. In accordance with the numberof propellers of the aerial vehicle, the aerial vehicle may include acorresponding number of the power assemblies 100, in order to providepower for the propellers.

The flight control system 200 is used for, upon receipt of an autoreturn instruction, controlling power output of the power assembly 100in accordance with return point position information to make the aerialvehicle return to a return point; and in the process of return, if aflight control instruction is detected, adjusting the power output ofthe power assembly 100 in accordance with the flight controlinstruction.

The flight control system 200 may include a signal receiving element anda control element. The signal receiving element is used for detectingand receiving an instruction, and the control element is used forcalculating and setting a rotation speed of a drive motor of each powerassembly 100 in accordance with the received instruction and through apre-set algorithm, so as to control one or more of a flight speed, aflight altitude and a flight direction of the aerial vehicle.

The flight control system 200 may be used for, in the process of return,detecting whether or not a flight control instruction for the aerialvehicle is received; and if a flight control instruction is received,adjusting the power output of the power assembly 100 in accordance withthe return point position information and the flight controlinstruction.

The flight control system 200 may be used for superimposing a returninstruction generated in accordance with the return point positioninformation and the fight control instruction, and controlling the poweroutput of the power assembly 100 in accordance with the superimposedinstruction.

Specifically, in the process of return of the aerial vehicle, it isfeasible to generate a return instruction in accordance with the returnpoint position information, for example, GPS information of the returnpoint and so on. The return instruction calculates a specific controlinstruction for the power assembly 100 through a pre-set algorithm, thatis, the return instruction calculates power output of each powerassembly when a return action is to be performed, and the controlinstruction is sent to the power assembly 100.

When the flight control instruction is received, it is feasible tosuperimpose a return instruction generated in accordance with the returnpoint position information and the fight control instruction, andcontrol the power output of the aerial vehicle in accordance with thesuperimposed instruction.

At this point, the flight control system 200 of the aerial vehiclesuperimposes the return instruction on the flight control instruction,that is, on the basis of the power output of each power assembly 100calculated by the return instruction, the power output of each powerassembly 100 when the flight control instruction is executed issuperimposed thereon, and new power output of each power assembly is setthrough a pre-set algorithm, so as to execute the flight controlinstruction at the same time when the return instruction is executed.

In the process, when the aerial vehicle executes the flight controlinstruction, the flight control system 200 also takes parameters of thereturn instruction into account, and obtains a control instruction byintegrating the flight control instruction and the parameters of thereturn instruction, to control power output of the aerial vehicle.

The flight control system 200 may also be used for generating a controlinstruction in accordance with the return point position information andthe flight control instruction, and controlling the power output of thepower assembly 100 in accordance with the control instruction.

At this point, when the flight control instruction is received, it isalso feasible to generate a control instruction by integrating thereturn point position information and the flight control instruction,that is, power output of each power assembly 100 of the aerial vehicleis calculated and set through a pre-set algorithm in accordance with thereturn point position information and the flight control instruction.

In the process, when the aerial vehicle executes the flight controlinstruction, the flight control system 200 also takes parameters of thereturn point position information into account, and obtains a controlinstruction by integrating the flight control instruction and theparameters of the return point position information, to control poweroutput of the aerial vehicle.

A flight trajectory of the aerial vehicle is determined by a controlinstruction, wherein the control instruction is obtained by integratedcalculation of the return instruction and the flight control instructionor obtained by integrated calculation of information of the return pointand the flight control instruction. Hence, the flight trajectory isbetween a return trajectory and a predetermined trajectory of the flightcontrol instruction.

In addition, the flight control system 200 may be used for, in theprocess of return, detecting whether or not a flight control instructionfor the aerial vehicle is received; if a flight control instruction isreceived, suspending the control over the power output of the powerassembly 100 in accordance with the return point position information,and adjusting the power output of the power assembly 100 in accordancewith the flight control instruction; and after adjustment on the poweroutput of the power assembly 100 in accordance with the flight controlinstruction is completed, turning on the control over the power outputof the power assembly 100 in accordance with the return point positioninformation.

Further, it is feasible to turn on the control over the power output ofthe power assembly 100 in accordance with the return point positioninformation a pre-set time later after adjustment on the power output ofthe power assembly 100 in accordance with the flight control instructionis completed.

In addition, the flight control system 200 may control, after it isdetected in the process of return that the flight control instructionfor the aerial vehicle is received, execute the flight controlinstruction, exit the return state, and no longer continue to return,and all flight and actions thereafter are determined in accordance withthe user's operation and/or environment parameters of the aerialvehicle.

With aerial vehicles according to the embodiments of the presentdisclosure, control in the process of return can be achieved, whichenhances operation flexibility and security of the aerial vehicle.

In the several embodiments provided in the present disclosure, it shouldbe understood that the related devices and methods disclosed may beimplemented in another manner. For example, the device embodimentsdescribed above are merely exemplary and explanatory, for example,division of the modules or units may merely represent an exemplarydivision of logical functions. There may be other manners of division inactual implementation. For example, a plurality of units or assembliesmay be combined or integrated into another system, or some features maybe omitted or not performed. In addition, the mutual coupling or directcoupling or communication connections displayed or discussed may beimplemented by using some interfaces, and the indirect coupling orcommunication connections between the devices or units may beelectrical, mechanical or in another form.

The units described as separate components may be or may not bephysically separate, and components which are adjusted or detected asunits may be or may not be physical units, may be located in oneposition, or may be distributed on a plurality of units. Some or all ofthe units may be selected according to actual needs to achieve theobjectives of the solution of the embodiment.

In addition, functional units in the embodiments of the presentdisclosure may be integrated into one processing unit, or each of theunits may be physically separate, or two or more units may be integratedinto one unit. The aforementioned integrated units may be implemented ina form of hardware, or may be implemented in a form of a softwarefunctional unit.

When an integrated unit is implemented in the form of a softwarefunctional unit and sold or used as an independent product, theintegrated unit may be stored in a computer-readable storage medium.Based on such an understanding, all or a part of the technical solutionsconsistent with the disclosure may be implemented in a form of asoftware product. The computer software product may be stored in astorage medium, and may include several instructions used for causing acomputer processor to perform the whole or a part of a method consistentwith embodiments of the disclosure, such as one of the exemplary methodsdescribed above. The foregoing storage medium may include: any mediumthat can store a program code, such as a USB flash drive, a removablehard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), amagnetic disk, or an optical disc.

The above descriptions are merely to present exemplary embodiments ofthe present disclosure, but are not intended to limit the scope of thepresent disclosure. Any equivalent structures or equivalent process flowmodifications made by using contents of the specification and thedrawings of the present disclosure, or directly or indirectly applied toother related technical fields, should be likewise included in the scopeof the present disclosure.

What is claimed is:
 1. An aerial vehicle control method, comprising:upon receipt of an auto return instruction, controlling power output ofan aerial vehicle in accordance with return point position informationto cause the aerial vehicle to return to a return point indicated by thereturn point position information along a return trajectory; detecting,during returning to the return point, a flight control instructionconfigured to cause a user-specified action to be completed beforereaching the return point, the flight control instruction determining apredetermined trajectory that is different from the return trajectory;generating a superimposed instruction by superimposing the return pointposition information and the flight control instruction, thesuperimposed instruction configured to determine a flight trajectory forthe aerial vehicle considering both the return trajectory and thepredetermined trajectory, wherein the flight trajectory is anintegration of the return trajectory and the predetermined trajectorythat is different from the return trajectory or the predeterminedtrajectory; and adjusting the power output of the aerial vehicle inaccordance with the superimposed instruction to cause the aerial vehicleto return to the return point along the flight trajectory, whereinadjustment of the power output is conducted by superimposing a poweroutput for a power assembly of the aerial vehicle calculated accordingto the flight control instruction on a power output for the powerassembly calculated according to the auto return instruction.
 2. Theaerial vehicle control method of claim 1, wherein adjusting the poweroutput of the aerial vehicle in accordance with the superimposedinstruction comprises: sending the superimposed instruction to the powerassembly to control the power output of the aerial vehicle.
 3. Theaerial vehicle control method of claim 1, wherein adjusting the poweroutput of the aerial vehicle comprises: adjusting a speed of the powerassembly of the aerial vehicle to control at least one of a flightspeed, a flight altitude, or a flight direction of the aerial vehicle.4. The aerial vehicle control method of claim 1, wherein adjusting thepower output of the aerial vehicle in accordance with the superimposedinstruction comprises: suspending a control over the power output of theaerial vehicle in accordance with the return point position information,adjusting the power output of the aerial vehicle in accordance with theflight control instruction, and after adjustment on the power output ofthe aerial vehicle in accordance with the flight control instruction iscompleted, turning on the control over the power output of the aerialvehicle in accordance with the return point position information tocause the aerial vehicle to continue to return to the return point. 5.The aerial vehicle control method of claim 4, wherein turning on thecontrol over the power output of the aerial vehicle in accordance withthe return point position information comprises: waiting for a presettime period after the adjustment on the power output of the aerialvehicle in accordance with the flight control instruction is completedbefore turning on the control over the power output of the aerialvehicle in accordance with the return point position information.
 6. Theaerial vehicle control method of claim 1, wherein the flight controlinstruction comprises an operation instruction sent by a user controlend.
 7. The aerial vehicle control method of claim 1, wherein detectingthe flight control instruction comprises determining whether a receivedsignal is greater than a pre-set threshold.
 8. An aerial vehicle,comprising: a power assembly configured to provide power output for theaerial vehicle; and a flight control system configured to, upon receiptof an auto return instruction: control the power output of the powerassembly in accordance with return point position information to causethe aerial vehicle to return to a return point indicated by the returnpoint position information along a return trajectory; detect, duringreturning to the return point, a flight control instruction configuredto cause a user-specified action to be completed before reaching thereturn point, the flight control instruction determining a predeterminedtrajectory that is different from the return trajectory; generate asuperimposed instruction by superimposing the return point positioninformation and the flight control instruction, the superimposedinstruction configured to determine a flight trajectory for the aerialvehicle considering both the return trajectory and the predeterminedtrajectory, wherein the flight trajectory is an integration of thereturn trajectory and the predetermined trajectory that is differentfrom the return trajectory or the predetermined trajectory; and adjustthe power output of the aerial vehicle in accordance with thesuperimposed instruction to cause the aerial vehicle to return to thereturn point along the flight trajectory, wherein adjustment of thepower output is conducted by superimposing a power output for a powerassembly of the aerial vehicle calculated according to the flightcontrol instruction on a power output for the power assembly calculatedaccording to the auto return instruction.
 9. The aerial vehicle of claim8, wherein the flight control system is further configured to: controlthe power output of the power assembly in accordance with thesuperimposed instruction.
 10. The aerial vehicle of claim 8, wherein theflight control system is configured to adjust a speed of the powerassembly to control at least one of a flight speed, a flight altitude,or a flight direction of the aerial vehicle.
 11. The aerial vehicle ofclaim 8, wherein the flight control system is further configured to:suspend a control over the power output of the power assembly inaccordance with the return point position information, adjust the poweroutput of the power assembly in accordance with the flight controlinstruction, and after adjustment on the power output of the powerassembly in accordance with the flight control instruction is completed,turn on the control over the power output of the power assembly inaccordance with the return point position information.
 12. The aerialvehicle of claim 11, wherein the flight control system is furtherconfigured to wait for a preset time period after the adjustment on thepower output of the power assembly in accordance with the flight controlinstruction is completed before turning on the control over the poweroutput of the power assembly in accordance with the return pointposition information.
 13. The aerial vehicle of claim 8, wherein theflight control instruction comprises an operation instruction sent by auser control end.
 14. The aerial vehicle of claim 8, wherein detectingthe flight control instruction comprises determining whether a receivedsignal is greater than a pre-set threshold.